CN114362332B - Electrode plate telescopic machine room inspection robot charging pile and charging method - Google Patents
Electrode plate telescopic machine room inspection robot charging pile and charging method Download PDFInfo
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- CN114362332B CN114362332B CN202210270829.8A CN202210270829A CN114362332B CN 114362332 B CN114362332 B CN 114362332B CN 202210270829 A CN202210270829 A CN 202210270829A CN 114362332 B CN114362332 B CN 114362332B
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/14—Plug-in electric vehicles
Abstract
The invention discloses a charging pile and a charging method of a machine room inspection robot with telescopic electrode plates, wherein the charging pile comprises the following components: a shell, on which a handle is arranged; a power source; a power interface connected to a power source; the electrode plate is connected with a power supply and is used for contacting with a charging plate of the inspection robot; the equipment identification mechanism is used for identifying an object close to the charging pile; the processing mechanism is used for determining the charging pile to be in a working state or a non-working state according to the identification result; and the automatic telescopic mechanism is used for realizing that the electrode plate extends out of the shell in a working state and retracts into the shell in a non-working state. According to the invention, the electrode plate can be retracted into the charging pile under the condition of no charging, and the electrode plate extends out during charging, so that the electrode plate of the charging pile and the electrode plate on the robot are firmly attached.
Description
Technical Field
The invention belongs to the field of intelligent robots, and particularly relates to a charging pile and a charging method of a machine room inspection robot with telescopic electrode plates.
Background
The robot that patrols and examines fills electric pile mainly used is for patrolling and examining the robot quick charge, guarantees that the robot can be quick, accurate, the safety is charged, and at present, it mainly leaks, whether light sense sensor control electrode switches on outside the charging electrode to patrol and examine the robot and fill electric pile structure. If CN210224983U discloses a fill electric pile for patrolling and examining robot accurate positioning charges, including setting up in the electric pile guide rail that fills of filling electric pile body bottom, guide rail one end guide robot gets into, the other end with fill electric pile body coupling, it carries out optical transmission's photoelectric sensor transmitting device and photoelectric sensor receiving arrangement relatively to be provided with the direction on the both sides of electric pile guide rail and the electric pile body coupling one end respectively, it is connected through automatically controlled portable base to fill electric pile guide rail and fill between the electric pile body, it removes along with removing the base to fill the electric pile body, it still is provided with integrated image processing's controller to fill on the electric pile body, it is provided with camera device on the contact of charging of electric pile body, integrated image processing's controller and portable base, camera device and photoelectric sensor receiving arrangement are connected. Although it can let the robot automobile body when charging with the contact that charges can match the contact completely, independently the work of charging is more stable, uses convenience safe more. But this structure still has the potential safety hazard: firstly, a charging electrode is frequently switched on and off; the electrode plate is leaked under the condition of no charging, and can be electrified as long as the photoelectric switch detects that an object approaches, and safety accidents are easily caused by electrification at the moment; and the rigid connection of the electrodes and the inaccurate charging position of the robot easily cause the conditions of the robot such as running blockage or poor electrode contact.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides the charging pile and the charging method of the machine room inspection robot with the telescopic electrode plates, the electrode plates can retract into the charging pile under the condition of no charging, the electrode plates extend out during charging, and the electrode plates on the charging pile and the robot are firmly attached.
In a first aspect, the invention provides a machine room inspection robot charging pile with telescopic electrode plates, which comprises:
a shell, on which a handle is arranged;
a power source;
a power interface connected to the power source;
the electrode plate is connected with the power supply and is used for contacting with a charging plate of the inspection robot;
an equipment identification mechanism for identifying an object near the charging post;
the processing mechanism is used for determining the charging pile to be in a working state or a non-working state according to the identification result;
and the automatic telescopic mechanism is used for realizing that the electrode plate extends out of the shell in a working state and retracts into the shell in a non-working state.
The device identification mechanism comprises a photoelectric switch and a code reader which are fixed on the shell, the identification directions of the photoelectric switch and the code reader are the same as the extension direction of the electrode plate, the photoelectric switch is used for sending an in-place signal to the processing mechanism when detecting that an object exists at a preset position, and the code reader is used for reading the code of the object at the preset position;
and the processing mechanism is used for controlling the code reader to read codes when receiving the in-place signal, and controlling the automatic telescopic mechanism to realize the extension of the electrode plate when the code reading result of the code reader is that of a preset inspection robot.
Wherein, automatic telescopic machanism includes:
the guide sliding rail is fixedly arranged in the shell and is arranged towards the shell;
the electrode plate assembly is arranged on the guide slide rail in a sliding manner;
the telescopic end of the telescopic electric cylinder is fixed with the electrode plate assembly body so as to drive the electrode plate assembly body to reciprocate along the guide slide rail;
the electrode plate is arranged in the electrode plate assembly body in a telescopic mode so as to completely extend out of the electrode plate assembly body in a non-working state, and a preset retraction allowance is formed in a working state.
Wherein, the shell is provided with two strip-shaped holes which are arranged side by side;
the automatic telescopic mechanism also comprises an installation bottom plate and an installation seat plate which are arranged close to the strip-shaped holes;
the mounting bottom plate is fixed with the shell, and the guide slide rail and the telescopic electric cylinder are fixed on the mounting bottom plate;
sliding grooves matched with the guide sliding rails in shape are respectively formed in two sides of the installation seat plate, the installation seat plate is slidably arranged on the guide rails through the sliding grooves, and the electrode plate assembly body is fixed on the installation seat plate;
the telescopic electric cylinder is used for driving the electrode plate assembly body to move towards the strip-shaped hole along the guide slide rail in the working state, so that the electrode plate extends out of the shell through the strip-shaped hole.
The electrode plate assembly body is provided with a second strip-shaped hole matched with the electrode plate, and a plurality of buffer springs stretching along the axis direction of the second strip-shaped hole are arranged in the electrode plate assembly body;
one end of the electrode plate penetrates through the second strip-shaped hole, the other end of the electrode plate abuts against the buffer spring, and the buffer spring is configured to store energy to buffer the electrode plate when the inspection robot abuts against the electrode plate;
and releasing the stored energy when the inspection robot leaves, so that the electrode plate moves out of the second strip-shaped hole to restore to the initial position.
The charging pile further comprises a charging switch, and the charging switch is located on a connecting circuit of the electrode plate and the power supply and is used for controlling the connection and disconnection of the connecting circuit;
the equipment identification mechanism further comprises a proximity switch fixed on the electrode plate assembly body, the proximity switch faces the electrode plate and is used for detecting the real-time position of the electrode plate;
and the processing mechanism is used for controlling the charging switch to be communicated with the connecting circuit after the proximity switch detects that the electrode plate is separated from the initial position.
The electrode plate assembly further comprises an installation main body and a rear cover plate fixed with the installation main body, two ends of the buffer spring are respectively abutted to the electrode plate and the rear cover plate, and a clamping groove used for the electrode plate to move and a limiting groove used for the buffer spring to move are formed in the installation main body, so that the electrode plate and the buffer spring move under a preset track.
The two sides of the rear cover plate are respectively provided with a connecting support lug and a plurality of groups of positioning columns corresponding to the number of the electrode plates;
the connecting support lug is fixed with the output end of the telescopic electric cylinder;
two groups of positioning columns are arranged, each group comprises two positioning columns, each positioning column is abutted against the electrode plate through the buffer spring, and the two positioning columns in the same group are respectively positioned on two sides of the central axis of the electrode plate.
In a second aspect, the invention further provides a method for charging the machine room inspection robot by using the charging pile, which comprises the following steps:
placing a charging pile at a charging point;
the equipment identification mechanism identifies an object close to the charging point and checks the identification result with a predetermined result;
if the identification result of the equipment identification mechanism is the same as the preset result, the processing mechanism determines that the charging pile is in a working state, controls the automatic telescopic mechanism to extend the electrode plate out of the shell to be in contact with a charging sheet of the inspection robot, and charges the inspection robot;
if the recognition result of the equipment recognition mechanism is different from the preset result, the processing mechanism determines that the charging pile is in a non-working state, and controls the automatic telescopic mechanism to retract the electrode plate into the shell when the electrode plate is in a state of extending out of the shell.
Wherein the checking the recognition result with a predetermined result includes:
comparing the position information of an object close to the charging pile with preset position information;
if the position information of the object is the same as the preset position information, comparing the identity information of the identified object with the identity information of the preset inspection robot;
and if the identity information of the object is the same as that of the predetermined inspection robot, the identification result of the equipment identification mechanism is the same as the predetermined result.
Compared with the prior art, the electrode plate can retract into the charging pile under the condition of no charging through the arranged automatic telescopic mechanism, and the electrode plate extends out during charging, so that the electrode plate of the charging pile and the electrode plate on the robot are firmly attached. In addition, through the power and the handle that set up, can remove to optional position as required to reach portable effect of charging.
Drawings
The above and other objects, features and advantages of exemplary embodiments of the present disclosure will become readily apparent from the following detailed description read in conjunction with the accompanying drawings. Several embodiments of the present disclosure are illustrated by way of example, and not by way of limitation, in the figures of the accompanying drawings and in which like reference numerals refer to similar or corresponding parts and in which:
fig. 1 is a schematic diagram showing a charging pile of an electrode plate telescopic machine room inspection robot according to an embodiment of the invention;
fig. 2 is a sectional view illustrating a charging pile according to an embodiment of the present invention;
FIG. 3 is a schematic diagram illustrating an automatic retracting mechanism according to an embodiment of the present invention;
FIG. 4 is a schematic diagram illustrating an automatic retracting mechanism according to an embodiment of the present invention;
fig. 5 is a schematic view showing the installation of an electrode sheet assembly according to an embodiment of the present invention;
fig. 6 is a schematic diagram illustrating charging of a charging pile according to an embodiment of the present invention;
fig. 7 is a flowchart illustrating a method of completing charging of the machine room inspection robot using the charging pile according to an embodiment of the present invention.
Description of reference numerals: 1-shell, 11-handle, 12-bar-shaped hole, 2-power supply, 21-power supply interface, 3-electrode plate, 4-equipment identification mechanism, 41-photoelectric switch, 42-code reader, 43-proximity switch, 5-automatic telescopic mechanism, 51-guide sliding rail, 52-electrode plate assembly, 521-buffer spring, 522-installation main body, 523-rear cover plate, 524-positioning column, 525-connection support lug, 526-second bar-shaped hole, 53-telescopic electric cylinder, 54-installation bottom plate, 55-installation seat plate, 6-display, 7-power supply switch, 100-charging pile and 200-inspection robot.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the present invention will be described in further detail with reference to the accompanying drawings, and it is apparent that the described embodiments are only a part of the embodiments of the present invention, not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The terminology used in the embodiments of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in the examples of the present invention and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise, and "a plurality" typically includes at least two.
It is also noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that an article or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such article or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in the article or device in which the element is included.
Alternative embodiments of the present invention are described in detail below with reference to the accompanying drawings.
As shown in fig. 1 and 2, the invention discloses a charging pile of a machine room inspection robot with 3 telescopic electrode plates, which comprises:
a shell 1, on which a handle 11 is arranged;
a power supply 2;
a power supply interface 21 connected to the power supply 2;
the electrode plate 3 is connected with the power supply 2, and the electrode plate 3 is used for contacting with a charging sheet of the inspection robot;
the equipment identification mechanism 4 is used for identifying an object close to the charging pile;
the processing mechanism is used for determining the charging pile to be in a working state or a non-working state according to the identification result;
and the automatic telescopic mechanism 5 is used for extending the electrode plate 3 out of the shell 1 in the working state and retracting the electrode plate into the shell 1 in the non-working state.
This embodiment will fill electric pile through the handle 11 that sets up on the casing 1 and remove to the point department of charging that is used for charging, then pass through power source 21 with power supply 2 in it and be connected with the commercial power to guarantee to have sufficient electric quantity when patrolling and examining the robot and charging. This embodiment fills electric pile to the adaptability of different environment in order to improve, and this power 2 can the direct storage electric quantity, removes it to the position that does not have the commercial power access, perhaps appears under the condition of having a power failure for a short time, can directly rely on the electric quantity of 2 self storages of power to accomplish the operation of charging to patrolling and examining the robot to can ensure to patrol and examine the robot and accomplish the established task of patrolling and examining, and then improved the security of computer lab. In the practical application scene, this embodiment is when needs charge to patrolling and examining the robot, and the robot of patrolling and examining of treating to charge is close to filling electric pile, and electrode slice 3 that should fill electric pile accomplishes stretching out of electrode slice 3 through automatic telescopic machanism 5 to it is firm to guarantee to fill electrode slice 3 laminating on electric pile electrode slice 3 and the robot, in order to accomplish the operation of charging to patrolling and examining the robot. Simultaneously, can not need under the condition that charges patrolling and examining the robot, return electrode slice 3 back to fill in the electric pile, improve the security of filling electric pile, avoid appearing the incident. In addition, this embodiment still need carry out identity information and positional information discernment to it when patrolling and examining the charging operation of robot, pass through the back when the discernment to patrolling and examining the robot, then can accomplish the charging operation to patrolling and examining the robot, can avoid having other to patrol and examine the robot or personnel and fill the condition that electric pile stretches out with electrode slice 3 when being close to filling electric pile to fill electric pile's security performance in the improvement embodiment.
When being close to the stake of charging in order to reach the robot of patrolling and examining, automatic telescopic machanism 5 can stretch out electrode slice 3 to and carry out the function that retracts electrode slice 3 when patrolling and examining the robot and keeping away from the stake of charging, this embodiment can carry out corresponding selection according to the demand of difference. In an application scenario, the device identification mechanism 4 of the present embodiment includes a photoelectric switch 41 and a code reader 42 fixed on the housing, where the identification direction of the photoelectric switch 41 and the code reader 42 is the same as the extending direction of the electrode plate 3, the photoelectric switch 41 is configured to send an in-place signal to the processing mechanism when detecting that an object exists at a preset position, and the code reader 42 is configured to perform a code reading operation on the object at the preset position; the processing mechanism is used for controlling the code reader 42 to read codes when receiving the in-place signal, and controlling the automatic telescopic mechanism 5 to realize the extension of the electrode plate 3 when the code reading result of the code reader 42 is the preset inspection robot. In a practical application scenario, the code reader 42 of the present embodiment reads a charging code (which may be a bar code, a two-dimensional code, or other recognizable identification code) on the inspection robot. When the code reader 42 reads the charging code, the read identity information is sent to the processing mechanism, the processing mechanism performs identity recognition analysis on the charging code, and after the identity recognition passes, a control signal is sent to the automatic telescopic mechanism 5 to control the automatic telescopic mechanism 5 to complete the extending operation of the electrode plate 3. When the code reader 42 cannot read the charging code, the processing mechanism sends a stop or retraction instruction to control the automatic telescopic mechanism 5 to complete the retraction operation of the electrode plate 3. In another application scenario, after the photoelectric switch 41 of the embodiment detects that the inspection robot reaches the preset position, the photoelectric switch sends a position signal to the processing mechanism, and after the processing mechanism receives the position signal, the code reader 42 reads a charging code on the inspection robot, so that the processing mechanism controls the automatic telescopic mechanism 5 to extend or retract the electrode plate 3. In an actual application scenario, when the photoelectric switch 41 of this embodiment detects that the inspection robot reaches the in-place signal of the designated position (preset position) or the positioning information sent by the inspection robot in real time is the designated position, the processing mechanism sends a control signal to the automatic telescopic mechanism 5 to control the automatic telescopic mechanism 5 to complete the extending operation of the electrode plate 3. When the processing mechanism can not determine that the inspection robot is at the designated position, the processing mechanism stops or sends a retraction instruction to control the automatic telescoping mechanism 5 to complete the retraction operation of the electrode plate 3.
Referring to fig. 3 to 5, in order to automatically extend and retract the electrode plate 3 into the housing 1, the present embodiment may select a corresponding structure according to specific requirements. In an application scenario, the automatic retracting mechanism 5 of the present embodiment may include:
at least one guide slide rail 51, the guide slide rail 51 is fixedly arranged in the shell 1 and is arranged towards the shell 1; preferably, the guide slide rail 51 is at least two linear bearing slide rails arranged in parallel, so that the electrode plate 3 can be assembled and stretched on a preset rail without deviation, and the accurate motion track of the electrode plate 3 is ensured;
an electrode sheet assembly 52 slidably provided on the guide rail 51;
a telescopic electric cylinder 53, the telescopic end of which is fixed with the electrode sheet assembly 52 so as to drive the electrode sheet assembly 52 to reciprocate along the guide slide rail 51;
the electrode sheet 3 is telescopically disposed inside the electrode sheet assembly 52, and is used to completely extend out of the electrode sheet assembly 52 in a non-operating state, and has a predetermined retraction margin in an operating state.
In practical application scenarios, when the inspection robot is charged, the telescopic electric cylinder 53 drives the electrode plate assembly 52 to move along the guide slide rail 51, so that the electrode plate 3 on the electrode plate assembly 52 extends out of the housing 1. In addition, when the charging operation of the inspection robot is completed, the telescopic electric cylinder 53 drives the electrode sheet assembly 52 to move to the initial position along the guide slide rail 51, so that the electrode sheet 3 on the electrode sheet assembly 52 is retracted into the housing 1. The telescopic electric cylinder 53 of the present embodiment can drive the movement of the electrode sheet assembly 52 by receiving a control signal sent by the processing means.
This embodiment is further arranged in order to fix the automatic retracting mechanism 5 in the housing 1 to ensure stable extension and retraction of the electrode sheet 3. In this embodiment, the housing 1 is provided with two strip-shaped holes 12 arranged side by side, the automatic telescopic mechanism 5 may further include a mounting base plate 54 and a mounting seat plate 55 arranged near the strip-shaped holes 12, the mounting base plate 54 is fixed with the housing 1, and a guiding slide rail 51 and a telescopic electric cylinder 53 are fixed thereon; the two sides of the installation base plate 54 are respectively provided with a sliding groove matched with the shape of the guide sliding rail 51, the installation base plate 54 is arranged on the guide rail 51 in a sliding manner through the sliding grooves, and an electrode plate assembly 52 is fixed on the installation base plate 54; the telescopic electric cylinder 53 is used for driving the electrode plate assembly 52 to move towards the strip-shaped hole 12 along the guide slide rail 51 in the working state, so that the electrode plate 3 extends out of the shell 1 through the strip-shaped hole 12. The support of each component inside the automatic telescopic mechanism 5 is completed by the mounting base plate 54 and the mounting seat plate 55, so that the telescopic electric cylinder 53 can continuously complete the driving of the electrode sheet assembly 52. In addition, the electrode plate assembly 52 of the present embodiment is provided with a second bar-shaped hole 526 matching with the electrode plate 3, and a plurality of buffer springs 521 which extend and contract along the axial direction of the second bar-shaped hole 526 are arranged inside the electrode plate assembly 52; one end of the electrode plate 3 penetrates through the second strip-shaped hole 526, the other end of the electrode plate 3 abuts against the buffer spring 521, and the buffer spring 521 is configured to store energy to buffer the electrode plate 3 when the inspection robot abuts against the electrode plate 3; and releasing the stored energy when the inspection robot leaves, so that the electrode plate 3 moves out of the second bar-shaped hole 526 to be restored to the initial position. Through buffer spring 521's setting, can guarantee electrode slice 3 when with patrol and examine the robot contact, play the effect of buffering and fine setting to reach the adjustment and patrol and examine the robot and fill the position of electric pile, avoid appearing the condition of dieing or electrode slice 3 contact failure.
Referring to fig. 5, in order to enable the buffer spring 521 to buffer and finely adjust the electrode sheet 3, the structure of the electrode sheet assembly 52 may be selected accordingly. In an application scenario, the electrode plate assembly 52 of this embodiment may further include an installation main body 522 and a rear cover plate 523 fixed to the installation main body 522, two ends of the buffer spring 521 respectively abut against the electrode plate 3 and the rear cover plate 523, and a slot for movement of the electrode plate 3 and a limit slot for movement of the buffer spring 521 are provided in the installation main body 522, so that the electrode plate 3 and the buffer spring 521 move along a predetermined track. In an actual application scene, when the electrode plate 3 is not in contact with a charging sheet on the inspection robot, one end of the electrode plate 3 is positioned in the installation main body 522 and partially extends out of the installation main body 522, and at the moment, the buffer spring 521 is in an original or compressed state; when the electrode plate 3 starts to contact with a charging sheet on the inspection robot, the electrode plate 3 retracts into the installation main body 522 along the clamping groove due to the fact that the inspection robot moves excessively, meanwhile, the electrode plate 3 compresses the buffer spring 521 to adjust the position of the electrode plate 3 and the inspection robot, and the situation that the electrode plate 3 is dead against the installation main body or the electrode plate 3 is in poor contact is avoided; when the inspection robot is charged and leaves, the electrode plate 3 starts to move out of the mounting main body 522 along the card slot under the action of the buffer spring 521, and when the inspection robot completely leaves, the electrode plate 3 and the buffer spring 521 reach an initial state.
The buffer spring 521 can be further limited to avoid the position deviation during the compression and extension processes. In an actual application scenario, two sides of the rear cover plate 523 in this example may be respectively provided with a connecting lug 525 and a plurality of groups of positioning pillars 524 corresponding to the number of the electrode plates 3; the connecting support lug 525 is fixed with the output end of the telescopic electric cylinder 53, so that the telescopic electric cylinder 53 pushes the electrode plate assembly 52 to move in a whole telescopic way; two groups of positioning columns 524 are provided, each group includes two positioning columns 524, each positioning column 524 abuts against the electrode plate 3 through a buffer spring 521, and the two positioning columns 524 in the same group are located on two sides of the central axis of the electrode plate 3 respectively. The positioning post 524 is used to position the buffer spring 521, and to guide the compressed or expanded state thereof, so that the buffer or expansion of the electrode sheet 3 can be completed at a predetermined position along a predetermined direction. The telescopic electric cylinder 53 of the present embodiment is a dc brush motor, and is configured to stop and self-lock at will within a stroke range, and stop automatically at an extreme position. The telescopic electric cylinder 53 can be ensured to be free from the situation that the electrode plate assembly 52 is separated from the guide slide rail 51 due to excessive movement when the electrode plate assembly 52 is driven to move along the guide slide rail 51; and the flexible electric jar 53 of this embodiment stops the auto-lock in optional position, can reach and stretch out the in-process of casing 1 at drive electrode slice 3, when patrolling and examining robot and electrode slice 3 and contact, flexible electric jar 53 stops and the effect of auto-lock, avoids the excessive drive of flexible electric jar 53 and leads to electrode slice 3 excessively to contradict on patrolling and examining the robot and lead to electrode slice 3 or patrol and examine the robot and damage.
This embodiment is realized charging after contact in order to guarantee electrode slice 3 and patrol and examine the robot, can further set up the structure of filling electric pile. In an application scenario, the charging pile of the embodiment may further include a charging switch, where the charging switch is located on a connection circuit between the electrode plate 3 and the power supply 2 and is used to control on/off of the connection circuit; the device recognition mechanism 4 further comprises a proximity switch 43 fixed on the electrode sheet assembly 52, the proximity switch 43 faces the electrode sheet 3, and the proximity switch 43 is used for detecting the real-time position of the electrode sheet 3; the processing mechanism is used for controlling the charging switch to be communicated with the connecting circuit after the proximity switch 43 detects that the electrode plate 3 is separated from the initial position. In an actual application scenario, when the proximity switch 43 of this embodiment detects that the electrode plate 3 is separated from the initial position (i.e., when the electrode plate 3 is collided by the inspection robot and is displaced), the processing mechanism controls the charging switch to connect the connection circuit between the electrode plate 3 and the power supply 2, so as to complete the charging operation of the inspection robot.
This embodiment is for the sake of convenience shows each state of filling electric pile, can also realize through setting up display 6, and this display 6 is the information such as operating condition, the electric quantity of charging, voltage that are used for showing the electric pile that fills. In addition, in order to guarantee that charging pile and commercial power are normally switched on and off, power switch 7 can be set to control charging of power supply 2.
Referring to fig. 6 and 7, the embodiment further provides a method for completing charging of the machine room inspection robot by using the charging pile, including:
placing the charging pile 100 at a charging point;
the device recognition mechanism 4 recognizes an object near the charging point and checks the recognition result against a predetermined result;
if the identification result of the equipment identification mechanism 4 is the same as the preset result, the processing mechanism determines that the charging pile 100 is in a working state, controls the automatic telescopic mechanism 5 to extend the electrode plate 3 out of the shell 1 to be in contact with a charging piece of the inspection robot 200, and charges the inspection robot 200;
if the recognition result of the device recognition means 4 is different from the predetermined result, the processing means determines that the charging pile 100 is in the non-operating state, and controls the automatic retracting mechanism 5 to retract the electrode plate 3 into the housing 1 when the electrode plate 3 is in the state of being extended out of the housing 1.
Wherein, checking the identification result with a predetermined result comprises:
comparing the position information of the object close to the charging pile 100 with preset position information;
if the position information of the object is the same as the preset position information, comparing the identity information of the identified object with the identity information of the preset inspection robot;
if the identity information of the object is the same as that of the predetermined inspection robot, the recognition result of the equipment recognition mechanism 4 is the same as the predetermined result.
In an actual application scenario, when the battery of the inspection robot 200 feeds back to the control unit that the battery is in a low battery mode (generally, it is considered that less than 20% is a low battery), the inspection robot 200 moves to the charging pile 100. When the inspection robot 200 moves to a charging preparation point, the charging pile 100 identifies in-place information of the inspection robot 200 and starts to scan a charging code on the inspection robot 200 so as to determine whether the inspection robot 200 is the inspection robot 200 with preset charging; after the inspection robot is determined to be scheduled, the telescopic electric cylinder 53 pushes out the electrode plate 3 charged by the charging pile 100, meanwhile, a push-out signal of the telescopic electric cylinder 53 is fed back to the inspection robot 200, and the inspection robot 200 starts to slowly move to a charging point corresponding to the charging pile 100 after receiving the push-out signal of the telescopic electric cylinder 53. The charging point is the origin of coordinates, the charging preparation point and the charging point are on the same y axis, but the coordinates of the x axis are different, when the inspection robot 200 reaches the charging point, the charging sheet is butted with the charging pile 100, the buffer spring 521 arranged at the rear end of the electrode plate 3 of the charging pile 100 is compressed, the mechanical position error is eliminated, the charging sheet is attached to the electrode plate 3, and the power supply 2 in the shell 1 starts to charge the inspection robot 200. After the charging is finished, the inspection robot 200 leaves the charging position, the electrode plates 3 of the charging pile 100 are restored to the initial extension length under the action of the buffer spring 521, and the electrode plates 3 are automatically powered off and retracted to the inside of the charging pile 100 after the charging pile 100 cannot detect the charging code.
The foregoing describes preferred embodiments of the present invention, and is intended to provide a clear and concise description of the spirit and scope of the invention, and not to limit the same, but to include all modifications, substitutions, and alterations falling within the spirit and scope of the invention as defined by the appended claims.
Claims (5)
1. The utility model provides an electrode slice telescopic computer lab patrols and examines robot and fills electric pile which characterized in that includes:
a shell, on which a handle is arranged;
a power source;
a power interface connected to the power source;
the electrode plate is connected with the power supply and is used for contacting with a charging sheet of the inspection robot;
an equipment identification mechanism for identifying an object near the charging post;
the processing mechanism is used for determining the charging pile to be in a working state or a non-working state according to the identification result;
the charging switch is positioned on a connecting circuit of the electrode plate and the power supply and is used for controlling the connection and disconnection of the connecting circuit;
the automatic telescopic mechanism is used for extending the electrode plate out of the shell in a working state and retracting the electrode plate into the shell in a non-working state; the automatic telescopic mechanism comprises:
the guide sliding rails are fixedly arranged in the shell and are arranged towards the shell, and the guide sliding rails are at least two linear bearing sliding rails arranged in parallel;
the electrode plate assembly body is arranged on the guide slide rail in a sliding manner;
the telescopic end of the telescopic electric cylinder is fixed with the electrode plate assembly body so as to drive the electrode plate assembly body to reciprocate along the guide slide rail, and the telescopic electric cylinder stops self-locking at any position;
the electrode plate is telescopically arranged in the electrode plate assembly body so as to completely extend out of the electrode plate assembly body in a non-working state, and a preset retraction allowance is formed in a working state;
a second strip-shaped hole matched with the electrode plate is formed in the electrode plate assembly body, and a plurality of buffer springs stretching along the axis direction of the second strip-shaped hole are arranged in the electrode plate assembly body;
one end of the electrode plate penetrates through the second strip-shaped hole, the other end of the electrode plate abuts against the buffer spring, and the buffer spring is configured to store energy to buffer the electrode plate when the inspection robot abuts against the electrode plate;
when the inspection robot leaves, the stored energy is released, so that the electrode plate moves out of the second strip-shaped hole to restore to the initial position;
the electrode plate assembly body also comprises an installation main body and a rear cover plate fixed with the installation main body, two ends of the buffer spring are respectively abutted against the electrode plate and the rear cover plate, and a clamping groove for the electrode plate to move and a limiting groove for the buffer spring to move are arranged in the installation main body, so that the electrode plate and the buffer spring move under a preset track;
two sides of the rear cover plate are respectively provided with a connecting support lug and a plurality of groups of positioning columns corresponding to the electrode plates in number, the connecting support lug is fixed with the output end of the telescopic electric cylinder, and each positioning column is abutted against the electrode plate through the buffer spring;
the equipment identification mechanism comprises a photoelectric switch and a code reader which are fixed on the shell, the identification directions of the photoelectric switch and the code reader are the same as the extension direction of the electrode plate, the photoelectric switch is used for sending an in-place signal to the processing mechanism when detecting that an object exists at a preset position, and the code reader is used for reading the code of the object at the preset position;
the processing mechanism is used for controlling the code reader to perform code reading operation when the in-place signal is received, and controlling the automatic telescoping mechanism to realize the extension of the electrode plate when the code reading result of the code reader is that the inspection robot is scheduled, and controlling the automatic telescoping mechanism to finish the retraction operation of the electrode plate when the code reading result of the code reader is that the electrode plate cannot be read;
the equipment identification mechanism further comprises a proximity switch fixed on the electrode plate assembly body, the proximity switch faces the electrode plate and is used for detecting the real-time position of the electrode plate;
the processing mechanism is used for controlling the charging switch to be communicated with the connecting circuit after the proximity switch detects that the electrode plate is separated from the initial position;
when the inspection robot moves to a charging preparation point, the charging pile identifies in-place information of the inspection robot and scans a charging code on the inspection robot to determine whether the inspection robot is a preset charging inspection robot or not; after the preset inspection robot is confirmed, the telescopic electric cylinder pushes out the electrode plate, meanwhile, a push-out signal of the telescopic electric cylinder is fed back to the inspection robot, and the inspection robot moves to a charging point corresponding to the charging pile after receiving the push-out signal of the telescopic electric cylinder;
the charging preparation point and the charging point are on the same y axis and on x axes with different coordinates, when the inspection robot reaches the charging point, a charging sheet of the inspection robot is butted with the charging pile, a buffer spring at the rear end of an electrode plate of the charging pile is compressed to eliminate mechanical position errors, the charging sheet is attached to the electrode plate, and a power supply in the shell starts to charge the inspection robot; patrol and examine the robot and leave the position of charging, fill the electrode slice of electric pile and resume to initial extension length under the buffer spring effect, can't detect the electrode slice automatic power off after the code that charges and withdraw to inside the electric pile of filling when filling electric pile.
2. The charging pile of claim 1, wherein the housing is provided with two strip-shaped holes arranged side by side;
the automatic telescopic mechanism also comprises an installation bottom plate and an installation seat plate which are arranged close to the strip-shaped holes;
the mounting bottom plate is fixed with the shell, and the guide slide rail and the telescopic electric cylinder are fixed on the mounting bottom plate;
sliding grooves matched with the guide sliding rails in shape are respectively formed in two sides of the installation seat plate, the installation seat plate is slidably arranged on the guide rails through the sliding grooves, and the electrode plate assembly body is fixed on the installation seat plate;
the telescopic electric cylinder is used for driving the electrode plate assembly body to move towards the strip-shaped hole along the guide slide rail in the working state, so that the electrode plate extends out of the shell through the strip-shaped hole.
3. The charging pile according to claim 1, wherein the positioning columns are arranged in two groups, each group comprises two positioning columns, and the two positioning columns in the same group are respectively located on two sides of the central axis of the electrode plate.
4. A method for completing the charging of the machine room inspection robot by using the charging pile according to any one of claims 1 to 3, which is characterized by comprising the following steps:
placing a charging pile at a charging point;
the equipment identification mechanism identifies an object close to the charging point and checks the identification result with a predetermined result;
if the identification result of the equipment identification mechanism is the same as the preset result, the processing mechanism determines that the charging pile is in a working state, controls the automatic telescopic mechanism to extend the electrode plate out of the shell to be in contact with a charging sheet of the inspection robot, and charges the inspection robot;
if the recognition result of the equipment recognition mechanism is different from the preset result, the processing mechanism determines that the charging pile is in a non-working state, and controls the automatic telescopic mechanism to retract the electrode plate into the shell when the electrode plate is in a state of extending out of the shell.
5. The method of claim 4, wherein said checking the recognition result against a predetermined result comprises:
comparing the position information of an object close to the charging pile with preset position information;
if the position information of the object is the same as the preset position information, comparing the identity information of the identified object with the identity information of the preset inspection robot;
and if the identity information of the object is the same as that of the predetermined inspection robot, the identification result of the equipment identification mechanism is the same as the predetermined result.
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| CN202210270829.8A CN114362332B (en) | 2022-03-18 | 2022-03-18 | Electrode plate telescopic machine room inspection robot charging pile and charging method |
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| CN107979132A (en) * | 2017-12-07 | 2018-05-01 | 南京理工大学 | A kind of mobile robot charging unit |
| CN108173310B (en) * | 2018-01-25 | 2020-03-31 | 国网智能科技股份有限公司 | Charging device of robot |
| CN210224983U (en) * | 2019-05-24 | 2020-03-31 | 国网新疆电力有限公司乌鲁木齐供电公司 | A fill electric pile for patrolling and examining robot accurate positioning and charge |
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Effective date of registration: 20220929 Address after: 201107 room 108, block a, building 8, No. 1879, jiangxinsha Road, Pudong New Area, Shanghai Patentee after: Shanghai mengpa Intelligent Technology Co.,Ltd. Patentee after: Beijing mengpa Xinchuang Technology Co.,Ltd. Address before: 1110, 1 / F, building a, 98 Guangqu Road, Chaoyang District, Beijing 100022 Patentee before: Beijing mengpa Xinchuang Technology Co.,Ltd. |